// --------------------------------------------------------------------------------------------------------------------
// <copyright file="IDriveState.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Hardware.DAC
{
    using Microsoft.Robotics.Numerics;

    /// <summary>
    /// DriveState interface which encapsulates any type of drive.
    /// It can be used for differential drive, $holonomic$ drive, ball drive .. robots.
    /// </summary>
    public interface IDriveState
    {
        /// <summary>
        /// Gets the mean delta position (deltaX, deltaY, deltaHeading) from the given previous state.
        /// </summary>
        /// <param name="previousState">Previous differential state</param>        
        /// <returns>The mean delta position (deltaX, deltaY, deltaHeading) from the given previous state. </returns>
        Pose2D GetMeanDeltaPose(IDriveState previousState);

        /// <summary>
        /// Samples the delta position (deltaX, deltaY, deltaHeading) from the given previous state.
        /// </summary>
        /// <param name="previousState">Previous differential state</param>        
        /// <returns>The sampled delta position (deltaX, deltaY, deltaHeading) from the given previous state.</returns>
        Pose2D SampleDeltaPose(IDriveState previousState);

        /// <summary>
        /// Gets the updated pose (X, Y, Heading) from the given  previous pose and previous state.
        /// </summary>
        /// <param name="previousPose">Previous pose to update x (meters), y (meters) and heading (radians)</param>
        /// <param name="previousState">Previous differential state</param>        
        /// <returns>The mean delta position (deltaX, deltaY, deltaHeading) from the given previous state. </returns>
        Pose2D GetUpdatedPose(Pose2D previousPose, IDriveState previousState);

        /// <summary>
        /// Samples the pose (X, Y, Heading) from the given previous state
        /// </summary>
        /// <param name="previousPose">Previous pose to update x (meters), y (meters) and heading (radians)</param>
        /// <param name="previousState">Previous differential state</param>        
        /// <returns>The sampled delta position (deltaX, deltaY, deltaHeading) from the given previous state.</returns>
        Pose2D SamplePose(Pose2D previousPose, IDriveState previousState);
    }
}
